交通运输系统工程与信息

交通运输系统工程与信息 ›› 2016, Vol. 16 ›› Issue (6): 81-87.

所属专题： 自动驾驶技术

• 智能交通系统与信息技术 • 上一篇    下一篇

考虑驾驶意图与动态环境的汽车避碰路径规划

彭理群1, 2 ，吴超仲1, 2 ，黄珍*3 ，楚文慧1, 2，贺宜1, 2   

  1. 1. 武汉理工大学智能交通系统研究中心，武汉430063；2. 水路公路交通安全控制与装备教育部工程研究中心， 武汉430063；3. 武汉理工大学自动化学院，武汉430070
  • 收稿日期:2016-05-11 修回日期:2016-08-17 出版日期:2016-12-25 发布日期:2016-12-26
  • 作者简介:彭理群（1984-），男，湖北武汉人，博士.
  • 基金资助:

    国家自然科学基金/National Natural Science Foundation of China(51178364,61203236,51605350)；国家科技支撑计 划课题/National Key Projects in the Science & Technology of China (2014BAG01B03) .

Collision Avoidance Path Planning with Consideration of Driver Intention and Dynamic Traffic Situation

PENG Li-qun1, 2 , WU Chao-zhong1, 2, HUANG Zhen3, CHUWen-hui1, 2, HE Yi1, 2   

  1. 1. Intelligent Transport Systems Research Center,Wuhan University of Technology,Wuhan 430063, China; 2. Engineering Research Center of Transportation Safety, Ministry of Education,Wuhan 430063, China; 3. Automation School,Wuhan University of Technology,Wuhan 430070, China
  • Received:2016-05-11 Revised:2016-08-17 Online:2016-12-25 Published:2016-12-26

PDF

被引次数

6

摘要：

为了提高动态道路交通环境下汽车主动避碰的适应性和安全性，本文综合考 虑了动态交通环境、驾驶意图和车辆动力学约束条件，提出道路势场模型来规划汽车避 碰路径.该模型考虑了被控汽车与道路障碍物的相对运动状态，以及道路车辆的行驶意 图，结合栅格法对传统人工斥力场模型进行改进.通过设置局部目标点避免规划路径陷入 局部势能最小位置，进而导引被控汽车逐渐向全局目标点收敛.最后，为适应车辆动力学 特性需求，对规划路径的曲率进行优化.试验结果表明，所提出的路径规划方法能导引被 控汽车绕过局部势能最小位置，与传统人工势场模型的路径规划结果相比，汽车行驶过 程中的最大碰撞风险指数降低了55.1%，且满足车辆动力学约束条件.

关键词: 智能交通, 避碰决策, 路径规划, 道路势场, 驾驶意图

Abstract:

Aim to improve the efficiency and flexibility of vehicle active collision avoidance system, a novel path planning methodology for vehicle collision avoidance is proposed in this paper, in which, dynamic traffic conditions, driver intention and vehicle dynamic constraints are comprehensively considered. The proposed road potential field model takes three advantages when comparing with traditional artificial potential field model. Firstly, several local targets are set up to ensure travelling path avoidance of trapping into local minimum potential. Secondly, motion states of road dynamic obstacles are predicted, combined with the grid algorithm, the traditional repulsion field model is modified to ensure that the vehicle motion along the programmed path can effectively prevent collision accidents in maximum degree. Thirdly, the symmetric polynomials method is applied and shortest travel nodes are calculated to smooth the path for meeting the requirement of vehicle dynamic characteristics. The results show that the proposed method can lead vehicle motion away from local minimum potential position. Compared with traditional artificial potential field model, the maximum collision risk value is 55.1% lower by using the improved model calculated trajectory, and the programmed trajectory can comprehensively satisfy the condition of vehicle dynamic restriction and motion performance, and the design results are reasonable.

Key words: intelligent transportation, collision avoidance decision, path planning, road potential field, driver intention

中图分类号: